#pragma once

#define DYNAMIC_RESULT_FILE ZUC_SCRIPT_DIR "/log/identify_res.txt"
#define Friction_RESULT_FILE ZUC_SCRIPT_DIR "/log/identify_res"

int zuIdentify(const double* a,
               const double* d,
               const double* alpha,
               const double* offset,
               const double* grav,
               const double* link_dynamics,
               const char* data_path,
               const char* res_path);

int AtIdentify(const double* a,
               const double* d,
               const double* alpha,
               const double* offset,
               const double* grav,
               const double* link_dynamics,
               const char* data_path,
               const char* res_path);
